diff options
Diffstat (limited to 'mavlink/share/pyshared/pymavlink/examples/magtest.py')
| -rw-r--r-- | mavlink/share/pyshared/pymavlink/examples/magtest.py | 120 |
1 files changed, 0 insertions, 120 deletions
diff --git a/mavlink/share/pyshared/pymavlink/examples/magtest.py b/mavlink/share/pyshared/pymavlink/examples/magtest.py deleted file mode 100644 index 8b910f8fd..000000000 --- a/mavlink/share/pyshared/pymavlink/examples/magtest.py +++ /dev/null @@ -1,120 +0,0 @@ -#!/usr/bin/env python - -''' -rotate APMs on bench to test magnetometers - -''' - -import sys, os, time -from math import radians - -# allow import from the parent directory, where mavlink.py is -sys.path.insert(0, os.path.join(os.path.dirname(os.path.realpath(__file__)), '..')) - -import mavlink, mavutil - -from optparse import OptionParser -parser = OptionParser("rotate.py [options]") - -parser.add_option("--device1", dest="device1", default=None, help="mavlink device1") -parser.add_option("--device2", dest="device2", default=None, help="mavlink device2") -parser.add_option("--baudrate", dest="baudrate", type='int', - help="master port baud rate", default=115200) -(opts, args) = parser.parse_args() - -if opts.device1 is None or opts.device2 is None: - print("You must specify a mavlink device") - sys.exit(1) - -def set_attitude(rc3, rc4): - global mav1, mav2 - values = [ 65535 ] * 8 - values[2] = rc3 - values[3] = rc4 - mav1.mav.rc_channels_override_send(mav1.target_system, mav1.target_component, *values) - mav2.mav.rc_channels_override_send(mav2.target_system, mav2.target_component, *values) - - -# create a mavlink instance -mav1 = mavutil.mavlink_connection(opts.device1, baud=opts.baudrate) - -# create a mavlink instance -mav2 = mavutil.mavlink_connection(opts.device2, baud=opts.baudrate) - -print("Waiting for HEARTBEAT") -mav1.wait_heartbeat() -mav2.wait_heartbeat() -print("Heartbeat from APM (system %u component %u)" % (mav1.target_system, mav1.target_system)) -print("Heartbeat from APM (system %u component %u)" % (mav2.target_system, mav2.target_system)) - -print("Waiting for MANUAL mode") -mav1.recv_match(type='SYS_STATUS', condition='SYS_STATUS.mode==2 and SYS_STATUS.nav_mode==4', blocking=True) -mav2.recv_match(type='SYS_STATUS', condition='SYS_STATUS.mode==2 and SYS_STATUS.nav_mode==4', blocking=True) - -print("Setting declination") -mav1.mav.param_set_send(mav1.target_system, mav1.target_component, - 'COMPASS_DEC', radians(12.33)) -mav2.mav.param_set_send(mav2.target_system, mav2.target_component, - 'COMPASS_DEC', radians(12.33)) - - -set_attitude(1060, 1160) - -event = mavutil.periodic_event(30) -pevent = mavutil.periodic_event(0.3) -rc3_min = 1060 -rc3_max = 1850 -rc4_min = 1080 -rc4_max = 1500 -rc3 = rc3_min -rc4 = 1160 -delta3 = 2 -delta4 = 1 -use_pitch = 1 - -MAV_ACTION_CALIBRATE_GYRO = 17 -mav1.mav.action_send(mav1.target_system, mav1.target_component, MAV_ACTION_CALIBRATE_GYRO) -mav2.mav.action_send(mav2.target_system, mav2.target_component, MAV_ACTION_CALIBRATE_GYRO) - -print("Waiting for gyro calibration") -mav1.recv_match(type='ACTION_ACK') -mav2.recv_match(type='ACTION_ACK') - -print("Resetting mag offsets") -mav1.mav.set_mag_offsets_send(mav1.target_system, mav1.target_component, 0, 0, 0) -mav2.mav.set_mag_offsets_send(mav2.target_system, mav2.target_component, 0, 0, 0) - -def TrueHeading(SERVO_OUTPUT_RAW): - p = float(SERVO_OUTPUT_RAW.servo3_raw - rc3_min) / (rc3_max - rc3_min) - return 172 + p*(326 - 172) - -while True: - mav1.recv_msg() - mav2.recv_msg() - if event.trigger(): - if not use_pitch: - rc4 = 1160 - set_attitude(rc3, rc4) - rc3 += delta3 - if rc3 > rc3_max or rc3 < rc3_min: - delta3 = -delta3 - use_pitch ^= 1 - rc4 += delta4 - if rc4 > rc4_max or rc4 < rc4_min: - delta4 = -delta4 - if pevent.trigger(): - print "hdg1: %3u hdg2: %3u ofs1: %4u, %4u, %4u ofs2: %4u, %4u, %4u" % ( - mav1.messages['VFR_HUD'].heading, - mav2.messages['VFR_HUD'].heading, - mav1.messages['SENSOR_OFFSETS'].mag_ofs_x, - mav1.messages['SENSOR_OFFSETS'].mag_ofs_y, - mav1.messages['SENSOR_OFFSETS'].mag_ofs_z, - mav2.messages['SENSOR_OFFSETS'].mag_ofs_x, - mav2.messages['SENSOR_OFFSETS'].mag_ofs_y, - mav2.messages['SENSOR_OFFSETS'].mag_ofs_z, - ) - time.sleep(0.01) - -# 314M 326G -# 160M 172G - |